Hardware Installation

Assembly

Two M3 screws are recommended to assemble mechanically the MC01 to a frame. Its fixation holes do not have thread, then it is necessary to use more than 2mm as thread depth.

Pinout/Connections

20 Pin Connector

../_images/Pins20.png

Allocation pin numbers

Number

Colour

Inputs

Use

1

Brown

EQEP1L

EQEP Encoder

2

Red

EQEP1S

EQEP Encoder

3

Orange

EQEP1B

EQEP Encoder

4

Yellow

PWM1/ECAP

PWM/ECAP

5

Green

EQEP1A

EQEP Encoder

6

Blue

3.3V

Output Power

7

Purple

PWM2/ECAP

PWM/ECAP

8

Gray

CAN (N)

CAN negative

9

White

CAN (P)

CAN positive

10

Black

GND

Ground

11

Brown

SDA

I2C

12

Red

SCL

I2C

13

Orange

INPUT POWER

Voltage supply

14

Yellow

5V

Output Power

15

Green

MISO+

SPI Encoder

16

Blue

MISO-

SPI Encoder

17

Purple

CLK-

SPI Encoder

18

Gray

CLK+

SPI Encoder

The encoder information is received as a differential signal between MISO+ and MISO-, with a differential clock signal between CLK+ and CLK-.

3 Pin Output Connector

The 3 pin connector has the power outputs for motor power supply, each pin corresponds to a phase (A, B and C).

../_images/Pins3.png

Allocation pin phases

CAN Assembly

A 120 Ohm resistor is required to connect via CAN a MC01 With a Veronte Autopilot. The following figure describes how to assembe the CAN connection with more devices.

../_images/cir_config.png

CAN circuit